Given the following snippit of C code we are attempting to add damping or differential correction to the pitch stability. The values gain and DiffPitchRoll are constant doubles used to adjust the various gains. This chunk of code runs 75 times a second and er.Pitch is the IMU raw pitch output. Given we want rate damping what should the sign of the differential correction be ?

The vehicle was undamaged in both videos above, We need to work on the altitude control a little bit more and we did eventually tangle the ropes around the the GPS antenna mast 3 flights after the â€œPlusâ€

After the long test in the video we did two more flights.
We wanted to get the "Landing" down.

We did a short flight...

Take off->go to 2M hover for 5 sec descend slowly.
It worked perfectly.

We then did another flight (without refuling) that that was supposed to do exactly the same thing. It oscillated vertically and ended up way high just like the long flight. I terminated the flight and it broke the GPS antenna on the tether ropes.

For the early stability tests we do not have the 25Kg payload on the vehicle as we wanted to reduce the loads on the tether structure. So with no payload and almost no fuel the engine was having a problem throttling down that low stably. We plan to add the 25Kg payload and try again next weekend. The goal is to take off and land with good vertical control suspended under the tether. When we can do that a bunch of times in a row we will keep the tether, but lower it to the ground so it takes off and lands from the pad and the tether is just there as a safety backup to keep it from flying away.

After that we may do some short free untethered flights.
We have a flight waiver in place that allows us to do testing up to and including a 100 second untethered flight.

whoa, wait a min here! that was really awsome who did that? Are you really looking for help with that code Rob? Are you just teasing me ? What kind of engine's there? Was that pulsing exhaust? Awsome!!!!!!!!!!!!! accelerometers and Gyros?
Anyway
Damn go Job!
Way to go!!!!
Monroe

Unreasonable Rocket made their first flight attempt for Level One, 2nd Place of the 2009 Northrop Grumman Lunar Lander Challenge. Unsuccessful today, they chase glory tomorrow. Discover why they are called Unreasonable Rocket from Paul Breed, Sr. and find out what happened on one of their flight attempts on Oct 30, 2009 from Paul Breed, Jr. For more info: thelaunchpad.xprize.org